Method for deicing ground wire of overhead transmission line by using helicopter to suspend deicing robot

Abstract

The invention provides a method for deicing an overhead transmission line ground wire through a helicopter suspension deicing robot, belongs to the technical field of transmission line ground wire deicing, and aims to avoid the safety risk of deicing operation of helicopter suspension personnel. According to the method for deicing the overhead transmission line ground wire through the helicopter suspension deicing robot, an overhead transmission line ground wire deicing robot suite suitable for a helicopter is adopted. The overhead transmission line ground wire deicing robot suite suitable for the helicopter comprises an air suspension connecting cover (2) and an overhead transmission line ground wire deicing robot (1) suitable for the helicopter. According to the method for deicing the overhead transmission line ground wire through the helicopter suspension deicing robot, the advantages that a helicopter operation platform is not limited by terrains, the coverage range is wide and the like can be exerted, and meanwhile the advantages that the deicing robot is safe in deicing operation, high in efficiency and stable in performance can be exerted.

Description

Technical Field

[0001] This invention relates to the field of de-icing technology for power transmission line ground wires, specifically a method for de-icing overhead power transmission line ground wires using a helicopter-suspended de-icing robot. Background Technology

[0002] Transmission lines are long and traverse complex terrains and special environments, including mountains and jungles, making them prone to icing during winter. Icing increases the vertical load and wind resistance on conductors and ground wires, leading to increased sag, insufficient safety distances to the ground or crossings, and potentially flashover. Severe icing can cause a dramatic increase in conductor and ground wire tension, exceeding design limits and resulting in catastrophic accidents such as line breaks and tower collapses. This can cause widespread power outages and result in enormous economic losses.

[0003] In existing technologies, de-icing of power transmission lines can be carried out using helicopter sling-mounted personnel. This method, an extension of the sling-mounted approach, involves a helicopter suspending a worker who uses tools to tap away the ice. It is suitable for heavily iced scenarios. Nearly 300 meters of optical cable have been successfully cleared of ice from the Shaanxi-Wuhan line, restoring the cable tension to within permissible limits, facilitating subsequent cable removal and significantly improving line repair efficiency. However, helicopter-mounted personnel de-icing carries the risk of personnel being struck by falling ice, and the workers are suspended for extended periods, requiring them to overcome adverse weather conditions such as extreme cold. The work is physically demanding, and this method has only been used in emergency situations. Summary of the Invention

[0004] To avoid the safety risks associated with helicopter-borne personnel de-icing operations, this invention provides a method for de-icing the ground wires of overhead power transmission lines using a helicopter-suspended de-icing robot. This method leverages the advantages of helicopter platforms, such as being unrestricted by terrain and having a wide coverage area, while also combining the advantages of de-icing robots, such as safety, high efficiency, and stable performance.

[0005] The technical solution adopted by the embodiments of the present invention to solve its technical problem is as follows:

[0006] A method for de-icing the ground wire of an overhead power transmission line using a helicopter-mounted de-icing robot is disclosed. This method employs a helicopter-compatible overhead power transmission line ground wire de-icing robot kit, which includes a suspended connecting cover and a helicopter-compatible overhead power transmission line ground wire de-icing robot. The helicopter-compatible overhead power transmission line ground wire de-icing robot includes a vertically connected suspension mechanism and a robot body. The suspension mechanism comprises an outer cylinder and a claw arm. The outer cylinder has an upright cylindrical structure, and the claw arm can extend out of the outer cylinder and be in an extended state, and can also retract into the outer cylinder and be in a retracted state. The suspended connecting cover includes an upper connector and a lower connecting cylinder spaced vertically, with the lower connecting cylinder being upright.

[0007] The method for de-icing the ground wire of overhead power transmission lines using a helicopter-suspended de-icing robot includes the following steps:

[0008] Step 1: The helicopter flies over the overhead power line ground wire de-icing robot, which is suitable for helicopters, by slinging the air-lift connection cover. The crane claw arm of the overhead power line ground wire de-icing robot is in the retracted state.

[0009] Step 2: The helicopter descends, and the outer cylinder of the suspension mechanism passes through the lower connecting cylinder of the empty suspension connecting cover until the empty suspension connecting cover abuts against the robot body. The claw arm changes from the retracted state to the extended state.

[0010] Step 3: The helicopter ascends, the overhead crane connecting cover is engaged with the helicopter-compatible overhead power line ground wire de-icing robot, and the helicopter flies to the working position above the overhead power line with the helicopter-compatible overhead power line ground wire de-icing robot.

[0011] Step 4: The helicopter descends. The overhead power line de-icing robot, suitable for helicopters, is suspended on the overhead power line. After the sling is in a slack state, the claw arm changes from the extended state to the retracted state.

[0012] Step 5: The helicopter ascends and flies away, and the overhead crane connection cover detaches from the helicopter-compatible overhead power line ground wire de-icing robot. The helicopter-compatible overhead power line ground wire de-icing robot then hangs on the overhead power line to perform de-icing operations.

[0013] The beneficial effects of the embodiments of the present invention are:

[0014] 1. The control system integrates a highly reliable wireless communication system and a visual recognition system, ensuring that the helicopter can accurately locate the wire and the robot, assisting the mechanical claw in hooking operations, and realizing automated hooking and release operations through automated control algorithms, reducing manual intervention and improving safety and efficiency.

[0015] 2. The spring suspension effectively adapts to the curvature of the ground line by moving up and down, improving the stability of the robot's movement. The bidirectional de-icing structure improves de-icing efficiency.

[0016] 3. It can leverage the advantages of helicopter operating platforms, such as being unrestricted by terrain and having a wide coverage area, while also combining the advantages of de-icing robots, such as safety, high efficiency, and stable performance in de-icing operations. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0018] Figure 1 This is a front view schematic diagram of the overhead power line ground wire de-icing robot applicable to helicopters as described in this invention.

[0019] Figure 2 This is a left-side view of the overhead power line de-icing robot for helicopters described in this invention.

[0020] Figure 3 This is a three-dimensional schematic diagram of the overhead power line ground wire de-icing robot applicable to helicopters as described in this invention.

[0021] Figure 4 This is a schematic diagram of the crane arm in the extended position.

[0022] Figure 5 This is a schematic diagram of the crane arm in the retracted state.

[0023] Figure 6 It is along Figure 2 Cross-sectional view along the AA direction.

[0024] Figure 7 This is a structural schematic diagram of a spring suspension assembly.

[0025] Figure 8 This is a schematic diagram showing the connection between the outer and inner traveling wheels and the overhead power transmission line.

[0026] Figure 9 This is a schematic diagram of the clamping and impact components.

[0027] Figure 10 This is a schematic diagram of the striking component.

[0028] Figure 11 This is a schematic diagram showing the connection between the overhead power line ground wire de-icing robot, suitable for helicopters, and the overhead crane connection cover.

[0029] Figure 12This is a schematic diagram of a helicopter-mounted de-icing robot for overhead power line grounding wires, suitable for helicopters.

[0030] The annotations in the attached figures are explained as follows:

[0031] 1. De-icing robot for overhead power transmission line ground wires suitable for helicopters; 2. Air-lift connection cover; 3. Helicopter; 4. Sling; 5. Overhead power transmission line;

[0032] 11. Suspension mechanism; 12. Robot body;

[0033] 21. Upper connector; 22. Lower connecting cylinder; 23. Outer connecting rod;

[0034] 111. Outer cylinder; 112. Crane claw arm; 113. Telescopic drive assembly; 114. Connecting rod; 115. Rotary shaft; 116. Guide head;

[0035] 121. Outer casing; 122. Outer wheels; 123. Inner wheels; 124. Spring suspension assembly; 125. Outer motor; 126. Inner motor; 127. Impact assembly; 128. Clamping and impact assembly;

[0036] 1111. Cylinder wall; 1112. Cylinder cavity;

[0037] 1131. Lead screw; 1132. Nut; 1133. Rotary motor; 1134. Base;

[0038] 1211. Front sidewall; 1212. Top wall; 1213. Rear sidewall; 1214. Mounting cavity;

[0039] 1241. Moving seat; 1242. Moving shaft; 1243. Bushing; 1244. Linear bearing; 1245. Spring;

[0040] 1271. Mounting base; 1272. Rotary striking motor; 1273. Rotary striking arm; 1274. Striking block;

[0041] 1281. Rotary clamping motor; 1282. Rotary clamping arm; 1283. Pressure roller; 1284. Impact head. Detailed Implementation

[0042] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0043] For ease of understanding and description, the following description of the present invention uses absolute positional relationships. Unless otherwise specified, the directional term "above" indicates... Figure 1 The direction above, the directional word "down" indicates Figure 1The lower side of the middle, the directional word "left" indicates Figure 1 The left side of the direction, the directional word "right" indicates Figure 1 The right-hand direction in the text, the directional word "front" indicates perpendicular to. Figure 1 The direction of the paper and the direction pointing inwards; the directional word "back" indicates perpendicular to. Figure 1 The orientation of the paper is pointed outwards from the viewpoint of the reader or user. This invention is described from the perspective of the reader or user, but the aforementioned directional terms should not be construed as limiting the scope of protection of this invention. Regarding the material, weight, size, angle, and parameters of the components, those skilled in the art can determine or replace them according to actual needs or a limited number of experiments.

[0044] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the overhead power line ground wire de-icing robot 1 (also known as a de-icing robot) applicable to helicopters described in this embodiment includes a hanging mechanism 11 and a robot body 12 that are fixedly connected at the top and bottom. The hanging mechanism 11 includes an outer cylinder 111 and a claw arm 112. The outer cylinder 111 has an upright cylindrical structure. The claw arm 112 can extend out of the outer cylinder 111 and be in an extended state (or an open state). The claw arm 112 can also retract into the outer cylinder 111 and be in a retracted state (or a closed state).

[0045] The outer cylinder 111 includes a cylinder wall 1111 and an inner cavity 1112. The lifting arms 112 have a long strip structure, and multiple lifting arms 112 are evenly spaced along the circumference of the outer cylinder 111. The inner cavity 1112 contains a telescopic drive assembly 113. The lifting arms 112 are connected to the telescopic drive assembly 113 via connecting rods 114. The telescopic drive assembly 113 enables the lifting arms 112 to reliably extend outside the outer cylinder 111 or retract inside the outer cylinder 111, thereby enabling the helicopter-compatible overhead power line ground wire de-icing robot 1 to achieve safe and efficient hooking and releasing functions.

[0046] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5As shown, one end of the lifting claw arm 112 is connected to the cylinder wall 1111 via a rotating shaft 115. The rotating shaft 115 is located in the upper part of the inner cavity 1112 of the cylinder. The lifting claw arm 112 can rotate around the rotating shaft 115. The axis of the rotating shaft 115 is perpendicular to the axis of the outer cylinder 111. One end of the connecting rod 114 is hinged to the middle of the lifting claw arm 112. The other end of the connecting rod 114 is hinged to the telescopic drive assembly 113. The telescopic drive assembly 113 can drive the other end of the lifting claw arm 112 to rotate and extend out of the outer cylinder 111 or drive the other end of the lifting claw arm 112 to rotate and retract into the outer cylinder 111.

[0047] The telescopic drive assembly 113 is located below the rotating shaft 115. The telescopic drive assembly 113 includes a lead screw 1131, a nut 1132, and a rotary motor 1133. The nut 1132 is sleeved on the outside of the lead screw 1131. The other end of the connecting rod 114 is hinged to the nut 1132 of the telescopic drive assembly 113. The axis of the lead screw 1131 coincides with the axis of the outer cylinder 111. The lead screw 1131 and the output shaft of the rotary motor 1133 are coaxially connected and fixed. The rotary motor 1133 is installed and fixed in the inner cavity 1112 of the cylinder through the base 1134. The rotary motor 1133 can drive the nut 1132 to move up and down along the axis of the lead screw 1131 through the lead screw 1131, thereby realizing the extension of the claw arm 112 to the outside of the outer cylinder 111 or the retraction to the inside of the outer cylinder 111.

[0048] A guide head 116 is provided on the upper end of the outer cylinder 111. The guide head 116 is a semi-circular structure that protrudes upwards. The upper end of the outer cylinder 111 is in a closed state. The length of the lifting claw arm 112 is 15%-35% of the length of the outer cylinder 111. Multiple elongated through holes are provided on the cylinder wall 1111 of the outer cylinder 111. Each elongated through hole corresponds to a lifting claw arm 112. The lifting claw arm 112 extends out of the outer cylinder 111 or retracts into the outer cylinder 111 through the elongated through holes.

[0049] like Figure 1 , Figure 2 , Figure 3 As shown, the robot body 12 includes an outer shell 121, outer wheels 122, inner wheels 123, and a spring suspension assembly 124. The outer shell 121 has a saddle-shaped structure, which can greatly reduce the difficulty of loading and unloading the robot from a helicopter. The outer shell 121 includes a front sidewall 1211, a top wall 1212, and a rear sidewall 1213 connected sequentially from front to back. The front sidewall 1211, top wall 1212, and rear sidewall 1213 form a mounting cavity 1214. The lower end of the mounting cavity 1214 is open. The mounting cavity 1214 extends in the left-right direction. The outer wheels 122, inner wheels 123, and spring suspension assembly 124 are all located within the mounting cavity 1214.

[0050] like Figure 6As shown, the axial axes of the outer traveling wheel 122 and the inner traveling wheel 123 both extend in the front-to-back direction. The outer traveling wheel 122 can rotate around its axial axis, and the inner traveling wheel 123 can rotate around its axial axis. The two outer traveling wheels 122 are symmetrically arranged and mirror images of each other, and the two inner traveling wheels 123 are also symmetrically arranged and mirror images of each other. The two inner traveling wheels 123 are located between the two outer traveling wheels 122 in the left-to-right direction. The axial axes of the two inner traveling wheels 123 are lower than the axial axes of the two outer traveling wheels 122. The two outer traveling wheels 122 and the two inner traveling wheels 123 can all be matched and abutted against a downwardly curved overhead power line 5. The spring suspension assembly 124 is arranged vertically with the inner traveling wheel 123. The spring suspension assembly 124 is located at the front and rear ends of the inner traveling wheel 123. The inner traveling wheel 123 can move up and down, and the spring suspension assembly 124 can provide a downward restoring force to the inner traveling wheel 123.

[0051] like Figure 6 , Figure 7 , Figure 8 As shown, the inner walking wheel 123 can be independently adjusted up and down. When the overhead power line de-icing robot 1, which is suitable for helicopters, is placed on the ground line (overhead power line 5), the ground line forms an arc due to gravity. The spring suspension assembly 124 can move the inner walking wheel 123 up and down, thereby effectively adapting to the curvature of the ground line and improving the stability of the robot's movement.

[0052] In a spring suspension assembly 124, the spring suspension assembly 124 includes a movable seat 1241 and two movable shafts 1242. Both movable shafts 1242 are in an upright state and are spaced apart from each other. The left and right ends of the movable seat 1241 are respectively connected and fixed to the lower ends of the two movable shafts 1242. Each movable shaft 1242 is fitted with a bushing 1243. A linear bearing 1244 is fitted between the movable shaft 1242 and the bushing 1243. A spring 1245 is fitted over the bushing 1243. The upper end of the bushing 1243 is connected and fixed to the top wall 1212. The upper end of the spring 1245 abuts against the top wall 1212, and the lower end of the spring 1245 abuts against the movable seat 1241.

[0053] like Figure 6 As shown, an external travel motor 125 is installed inside the outer travel wheel 122, and the outer travel wheel 122 is connected to the output shaft of the external travel motor 125. The outer casing 121 is connected to the housing of the external travel motor 125. The external travel motor 125 can drive the outer travel wheel 122 to rotate clockwise or counterclockwise. An internal travel motor 126 is installed inside the inner travel wheel 123, and the inner travel wheel 123 is connected to the output shaft of the inner travel motor 126. The movable seat 1241 is connected to the housing of the inner travel motor 126. The inner travel motor 126 can drive the inner travel wheel 123 to rotate clockwise or counterclockwise.

[0054] like Figure 10 As shown, the robot body 12 also includes a striking assembly 127, which is located at the left and right ends of the outer shell 121. The striking assembly 127 includes a mounting base 1271, a rotary striking motor 1272, a rotary striking arm 1273, and a striking block 1274 connected in sequence. The mounting base 1271 is fixedly connected to the outer shell 121. The output shaft of the rotary striking motor 1272 extends in the left and right direction. The rotary striking motor 1272 can drive the rotary striking arm 1273 and the striking block 1274 to rotate and strike the ice layer on the overhead power line 5.

[0055] like Figure 9 As shown, the robot body 12 also includes a clamping and impact assembly 128, which is also located at the left and right ends of the outer shell 121. The clamping and impact assembly 128 includes a rotary clamping motor 1281, a rotary clamping arm 1282, a pressure wheel 1283, and an impact head 1284. One end of the rotary clamping arm 1282 is connected and fixed to the output shaft of the rotary clamping motor 1281, and the output shaft of the rotary clamping motor 1281 extends in the left and right direction. The pressure wheel 1283 and the impact head 1284 are both fixed to the other end of the rotary clamping arm 1282. The rotary clamping motor 1281 can drive the rotary clamping arm 1282 to rotate and cause the pressure wheel 1283 and the outer traveling wheel 122 to clamp and fix the overhead power line 5. The impact head 1284 can impact the ice layer on the overhead power line 5.

[0056] The robot body 12 can perform de-icing operations in both left and right directions. During the operation, the rotary clamping motor 1281 drives the rotary clamping arm 1282 to rotate and clamp the overhead power line 5 with the pressure wheel 1283 and the outer walking wheel 122. During the operation, the striking block 1274 rotates at high speed to impact the ice and, together with the impact head 1284, impacts the ice to maximize the removal of ice from the line.

[0057] The helicopter-compatible overhead power line ground wire de-icing robot 1 also includes a control system, warning lights, and a battery. The control system enables the operation of the helicopter-compatible overhead power line ground wire de-icing robot 1. The control system integrates a highly reliable wireless communication module and a visual recognition system (such as a camera) to ensure the helicopter can accurately locate the conductor and the robot, assisting in the mechanical gripper's hook-and-grip operation. The battery can be a lithium battery, which provides power for the operation of the helicopter-compatible overhead power line ground wire de-icing robot 1.

[0058] The following describes a robot kit for de-icing the ground wire of overhead power transmission lines suitable for helicopters, such as... Figure 1 , Figure 2 , Figure 3 , Figure 11As shown, the overhead power line ground wire de-icing robot kit for helicopters includes an overhead connection cover 2 and the aforementioned overhead power line ground wire de-icing robot 1 for helicopters. The overhead connection cover 2 contains an upper connector 21 and a lower connecting cylinder 22 spaced apart vertically. The upper connector 21 can be a ring structure, and the lower connecting cylinder 22 is in an upright state with both its upper and lower ends open. The lower connecting cylinder 22 has a frustum-shaped structure (the lower connecting cylinder 22 is a frustum-shaped cylinder), with its top end facing upwards and its bottom end facing downwards. The inner diameter of the top end of the lower connecting cylinder 22 is smaller than the inner diameter of the bottom end. The upper connector 21 and the lower connecting cylinder 22 are connected and fixed by an outer connecting rod 23, which is located outside the lower connecting cylinder 22. Multiple outer connecting rods 23 are also present. The outer connecting rods 23 are evenly spaced along the circumference of the lower connecting cylinder 22. The outer cylinder 111 of the helicopter-mounted overhead power line ground wire de-icing robot 1 has an outer diameter smaller than the upper inner diameter of the lower connecting cylinder 22. When the lifting arm 112 is retracted, it is approximately parallel to the axis of the outer cylinder 111, and the distance from the lower end of the lifting arm 112 to the lower end of the outer cylinder 111 is greater than the height of the lower connecting cylinder 22. When the lifting arm 112 is extended, it is approximately perpendicular to the axis of the outer cylinder 111, and the distance from the outer end of the lifting arm 112 to the axis of the outer cylinder 111 is greater than half the upper inner diameter of the lower connecting cylinder 22. The outer cylinder 111 can be fitted inside the lower connecting cylinder 22. The helicopter-mounted overhead power line ground wire de-icing robot 1 can be engaged or disengaged from the air-mounted connecting cover 2.

[0059] When the hooking function is required, the crane claw arm 112 is in the closed state by default. The helicopter operator controls the empty crane connecting cover 2 to pass through the hoisting mechanism 11 from top to bottom, and then controls the crane claw arm 112 to open and move upward, thereby realizing the hooking function. When the release function is required, the helicopter operator controls the empty crane connecting cover 2 to move downward to the appropriate position, controls the crane claw arm 112 to close, and controls the empty crane connecting cover 2 to move upward and disengage from the hoisting mechanism 11, thereby realizing the release function.

[0060] The following describes a method for de-icing the ground wire of an overhead power transmission line using a helicopter-mounted de-icing robot. This method (also known as a helicopter-mounted de-icing robot method for de-icing overhead power transmission lines) utilizes the aforementioned helicopter-compatible overhead power transmission line ground wire de-icing robot kit. The method includes the following steps:

[0061] Step 1: The helicopter 3 flies to the top of the overhead power line ground wire de-icing robot 1, which is suitable for helicopters, by sling 4 and hoisting the aerial connection cover 2. The claw arm 112 of the overhead power line ground wire de-icing robot 1 is in the retracted state.

[0062] Step 2: The helicopter 3 descends slowly, and the outer cylinder 111 of the hoisting mechanism 11 passes through the lower connecting cylinder 22 of the empty hoisting connecting cover 2 until the empty hoisting connecting cover 2 comes into contact with the robot body 12, and the claw arm 112 changes from the retracted state to the extended state.

[0063] Step 3: Helicopter 3 slowly ascends, and the overhead crane connection cover 2 engages with the helicopter-mounted overhead power line ground wire de-icing robot 1. Helicopter 3, carrying the helicopter-mounted overhead power line ground wire de-icing robot 1, flies to the working position above the overhead power line 5. Figure 12 As shown.

[0064] Step 4: The helicopter 3 descends slowly. The overhead power line de-icing robot 1, which is suitable for helicopters, is suspended on the overhead power line 5. After the sling 4 is in a slack state, the claw arm 112 changes from the extended state to the retracted state.

[0065] Step 5: The helicopter 3 slowly ascends and flies away. The overhead connection cover 2 is disconnected from the helicopter-compatible overhead power line ground wire de-icing robot 1. The helicopter-compatible overhead power line ground wire de-icing robot 1 is suspended on the overhead power line 5 to perform bidirectional de-icing operations (e.g., left and right movement de-icing operations).

[0066] The method for de-icing overhead power lines using the helicopter-mounted de-icing robot kit also includes the following steps:

[0067] Step 6: After the de-icing operation is completed, the helicopter 3 flies to the top of the overhead power line ground wire de-icing robot 1, which is suitable for helicopters, by sling 4 and hoisting the aerial connection cover 2. The claw arm 112 of the overhead power line ground wire de-icing robot 1 is in the retracted state.

[0068] Step 7: The helicopter 3 descends slowly, and the outer cylinder 111 of the hoisting mechanism 11 passes through the lower connecting cylinder 22 of the empty hoisting connecting cover 2 until the empty hoisting connecting cover 2 comes into contact with the robot body 12, and the claw arm 112 changes from the retracted state to the extended state.

[0069] Step 8: The helicopter 3 slowly ascends, and the overhead power line ground wire de-icing robot 1 suitable for helicopters is connected to the overhead power line ground wire de-icing robot 1. The helicopter 3, carrying the overhead power line ground wire de-icing robot 1 suitable for helicopters, flies to the ground departure position.

[0070] Step 9: The helicopter 3 descends slowly, and the overhead power line ground wire de-icing robot 1 suitable for helicopters lands smoothly on the ground. After the sling 4 is in a slack state, the claw arm 112 changes from the extended state to the retracted state. Ground personnel retrieve the overhead power line ground wire de-icing robot 1 suitable for helicopters, and the air-lift connection cover 2 disengages from the overhead power line ground wire de-icing robot 1 suitable for helicopters.

[0071] Step 10: Helicopter 3 slowly ascends and flies away, returning to the take-off and landing point. During the above operations, ground personnel will provide assistance as needed.

[0072] This invention designs an overall structure for an overhead power transmission line ground wire de-icing robot 1 suitable for helicopters based on the helicopter's operating environment. This allows for remote de-icing of ground wires without requiring personnel to climb the tower, reducing operating costs and improving operating efficiency.

[0073] The present invention also designed an air-lift connection cover 2, which is suitable for helicopters. The overhead power line ground wire de-icing robot 1 and the air-lift connection cover 2 are combined into a kit to solve the problem that the robot cannot be accurately placed on or removed from the line due to stress at high altitude, and realize the rapid loading and unloading of the robot.

[0074] This invention proposes a method for de-icing overhead power lines using a helicopter-mounted de-icing robot kit, realizing a de-icing operation based on a helicopter platform.

[0075] The above description is merely a specific embodiment of the present invention and should not be construed as limiting the scope of the invention. Therefore, substitutions of equivalent components, or equivalent changes and modifications made within the scope of protection of the present invention, should still fall within the scope of the present invention. Furthermore, the technical features, technical solutions, and embodiments of the present invention can be freely combined and used.

Claims

1. A method for de-icing the ground wire of an overhead power transmission line using a helicopter-suspended de-icing robot, characterized in that, The method for de-icing the ground wire of overhead power transmission lines using the helicopter-suspended de-icing robot adopts a helicopter-compatible overhead power transmission line ground wire de-icing robot kit. The helicopter-compatible overhead power transmission line ground wire de-icing robot kit includes an air-suspended connecting cover (2) and a helicopter-compatible overhead power transmission line ground wire de-icing robot (1). The helicopter-compatible overhead power transmission line ground wire de-icing robot (1) includes a hanging mechanism (11) connected vertically and a robot body (12). The hanging mechanism (11) includes an outer cylinder (111) and a claw arm (112). The outer cylinder (111) has an upright cylindrical structure. The claw arm (112) can extend out of the outer cylinder (111) and is in an extended state. The claw arm (112) can also retract into the outer cylinder (111) and is in a retracted state. The air-suspended connecting cover (2) includes an upper connector (21) and a lower connecting cylinder (22) arranged vertically. The lower connecting cylinder (22) is in an upright state. The method for de-icing the ground wire of overhead power transmission lines using a helicopter-suspended de-icing robot includes the following steps: Step 1: The helicopter (3) flies to hover directly above the overhead power line ground wire de-icing robot (1) using the sling (4) to suspend the overhead connection cover (2). The claw arm (112) of the overhead power line ground wire de-icing robot (1) is in the retracted state. Step 2: The helicopter (3) descends, and the outer cylinder (111) of the hoisting mechanism (11) passes through the lower connecting cylinder (22) of the empty hoisting connecting cover (2) until the empty hoisting connecting cover (2) abuts against the robot body (12), and the claw arm (112) changes from the retracted state to the extended state. Step 3: The helicopter (3) ascends, the air-lift connection cover (2) is connected to the helicopter-compatible overhead power line ground wire de-icing robot (1), and the helicopter (3) suspends the helicopter-compatible overhead power line ground wire de-icing robot (1) to the working position above the overhead power line (5). Step 4: The helicopter (3) descends, and the overhead power line de-icing robot (1) suitable for helicopters is suspended on the overhead power line (5). After the sling (4) is in a slack state, the claw arm (112) changes from the extended state to the retracted state. Step 5: The helicopter (3) ascends and flies away, and the overhead connection cover (2) is disconnected from the overhead power line ground wire de-icing robot (1) suitable for helicopters. The overhead power line ground wire de-icing robot (1) suitable for helicopters is suspended on the overhead power line (5) to carry out de-icing operations.

2. The method for de-icing the ground wire of an overhead power transmission line using a helicopter-suspended de-icing robot according to claim 1, characterized in that, The method for de-icing the ground wire of overhead power transmission lines using a helicopter-suspended de-icing robot also includes the following steps in sequence: Step 6: After the de-icing operation is completed, the helicopter (3) flies to hover directly above the overhead power line ground wire de-icing robot (1) using the sling (4) to suspend the air-lift connection cover (2). The claw arm (112) of the overhead power line ground wire de-icing robot (1) is in the retracted state. Step 7: The helicopter (3) descends, and the outer cylinder (111) of the hoisting mechanism (11) passes through the lower connecting cylinder (22) of the empty hoisting connecting cover (2) until the empty hoisting connecting cover (2) abuts against the robot body (12), and the claw arm (112) changes from the retracted state to the extended state. Step 8: The helicopter (3) ascends, the overhead connection cover (2) is connected to the overhead power line ground wire de-icing robot (1) suitable for helicopters, and the helicopter (3) flies to the ground departure position with the overhead power line ground wire de-icing robot (1) suitable for helicopters suspended. Step 9: The helicopter (3) descends, and the overhead power line de-icing robot (1) suitable for helicopters lands smoothly on the ground. After the sling (4) is in a slack state, the claw arm (112) changes from the extended state to the retracted state. Ground personnel retrieve the overhead power line de-icing robot (1) suitable for helicopters, and the air-lift connection cover (2) detaches from the overhead power line de-icing robot (1) suitable for helicopters. Step 10: The helicopter (3) takes off and returns to the landing point.

3. The method for de-icing the ground wire of an overhead power transmission line using a helicopter-suspended de-icing robot according to claim 1, characterized in that, The outer cylinder (111) contains a cylinder wall (1111) and an inner cavity (1112). The lifting claw arms (112) are elongated structures, and multiple lifting claw arms (112) are arranged at intervals along the circumference of the outer cylinder (111). The inner cavity (1112) contains a telescopic drive assembly (113). The lifting claw arms (112) are connected to the telescopic drive assembly (113) through a connecting rod (114). One end of the lifting claw arm (112) is connected to the cylinder wall (1111) through a rotating shaft (115), which is located in the inner cavity. The upper part of (1112) is where the claw arm (112) can rotate around the pivot (115). The axis of the pivot (115) is perpendicular to the axis of the outer cylinder (111). One end of the connecting rod (114) is hinged to the middle of the claw arm (112), and the other end of the connecting rod (114) is hinged to the telescopic drive assembly (113). The telescopic drive assembly (113) can drive the other end of the claw arm (112) to extend out of the outer cylinder (111) or drive the other end of the claw arm (112) to retract into the outer cylinder (111).

4. The method for de-icing the ground wire of an overhead power transmission line using a helicopter-suspended de-icing robot according to claim 3, characterized in that, The telescopic drive assembly (113) includes a lead screw (1131), a nut (1132), and a rotary motor (1133). The nut (1132) is sleeved on the outside of the lead screw (1131). The other end of the connecting rod (114) is hinged to the nut (1132) of the telescopic drive assembly (113). The axis of the lead screw (1131) coincides with the axis of the outer cylinder (111). The lead screw (1131) is connected vertically to the rotary motor (1133). The rotary motor (1133) can drive the nut (1132) to reciprocate along the axis of the lead screw (1131) through the lead screw (1131).

5. The method for de-icing the ground wire of an overhead power transmission line using a helicopter-suspended de-icing robot according to claim 1, characterized in that, The robot body (12) includes an outer shell (121), outer wheels (122), inner wheels (123), and a spring suspension assembly (124). The outer shell (121) has a saddle-shaped structure and includes a front sidewall (1211), a top wall (1212), and a rear sidewall (1213) connected sequentially from front to back. The front sidewall (1211), top wall (1212), and rear sidewall (1213) form a mounting cavity (1214). The lower end of the mounting cavity (1214) is open. The outer wheels (122), inner wheels (123), and spring suspension assembly (124) are all located in the mounting cavity (1211). 4) Inside, the two outer traveling wheels (122) and the two inner traveling wheels (123) are symmetrically arranged on the left and right. The two inner traveling wheels (123) are located between the two outer traveling wheels (122) in the left and right direction. The two outer traveling wheels (122) and the two inner traveling wheels (123) can be matched and abutted with a downwardly curved overhead power line (5) from top to bottom. The spring suspension assembly (124) is arranged vertically with the inner traveling wheels (123). The spring suspension assembly (124) is located at the front and rear ends of the inner traveling wheels (123). The inner traveling wheels (123) can move up and down. The spring suspension assembly (124) can provide the inner traveling wheels (123) with a downward restoring force.

6. The method for de-icing the ground wire of an overhead power transmission line using a helicopter-suspended de-icing robot according to claim 5, characterized in that, The spring suspension assembly (124) includes a movable seat (1241) and two movable shafts (1242). Both movable shafts (1242) are in an upright state and are spaced apart from each other. The left and right ends of the movable seat (1241) are respectively connected and fixed to the lower ends of the two movable shafts (1242). Each of the two movable shafts (1242) is fitted with a bushing (1243). A linear bearing (1244) is fitted between the movable shaft (1242) and the bushing (1243). A spring (1245) is fitted over the bushing (1243). The upper end of the bushing (1243) is connected and fixed to the top wall (1212). The upper end of the spring (1245) abuts against the top wall (1212), and the lower end of the spring (1245) abuts against the movable seat (1241).

7. The method for de-icing the ground wire of an overhead power transmission line using a helicopter-suspended de-icing robot according to claim 5, characterized in that, An external walking wheel (122) is provided with an external walking motor (125), which can drive the external walking wheel (122) to rotate clockwise or counterclockwise. An internal walking wheel (123) is provided with an internal walking motor (126), which can drive the internal walking wheel (123) to rotate clockwise or counterclockwise.

8. The method for de-icing the ground wire of an overhead power transmission line using a helicopter-suspended de-icing robot according to claim 5, characterized in that, The robot body (12) also includes a striking component (127). The striking component (127) is located at the left and right ends of the outer shell (121). The striking component (127) includes a mounting base (1271), a rotary striking motor (1272), a rotary striking arm (1273), and a striking block (1274) connected in sequence. The rotary striking motor (1272) can drive the rotary striking arm (1273) and the striking block (1274) to rotate and strike the ice layer on the overhead power line (5).

9. The method for de-icing the ground wire of an overhead power transmission line using a helicopter-suspended de-icing robot according to claim 5, characterized in that, The robot body (12) also includes a clamping and impact assembly (128). The clamping and impact assembly (128) is located at the left and right ends of the outer shell (121). The clamping and impact assembly (128) includes a rotary clamping motor (1281), a rotary clamping arm (1282), a pressure wheel (1283), and an impact head (1284). One end of the rotary clamping arm (1282) is connected to the rotary clamping motor (1281). The pressure wheel (1283) and the impact head (1284) are both fixed to the other end of the rotary clamping arm (1282). The rotary clamping motor (1281) can drive the rotary clamping arm (1282) to rotate and make the pressure wheel (1283) and the outer walking wheel (122) clamp and fix the overhead power line (5). The impact head (1284) can impact the ice layer on the overhead power line (5).

10. The method for de-icing the ground wire of an overhead power transmission line using a helicopter-suspended de-icing robot according to claim 1, characterized in that, Both ends of the lower connecting cylinder (22) are open. The lower connecting cylinder (22) has a frustum conical structure, with the top end facing upwards and the bottom end facing downwards. The upper connector (21) and the lower connecting cylinder (22) are connected and fixed by an outer connecting rod (23). The outer connecting rod (23) is located outside the lower connecting cylinder (22). The outer diameter of the outer cylinder (111) of the helicopter overhead power line ground wire de-icing robot (1) is smaller than that of the lower connecting cylinder (21). 2) The upper inner diameter; when the claw arm (112) is in the retracted state, the distance from the lower end of the claw arm (112) to the lower end of the outer cylinder (111) is greater than the height of the lower connecting cylinder (22); when the claw arm (112) is in the extended state, the distance from the outer end of the claw arm (112) to the axis of the outer cylinder (111) is greater than half the inner diameter of the upper end of the lower connecting cylinder (22); the outer cylinder (111) can be fitted inside the lower connecting cylinder (22).

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